CN214628197U - Novel intelligence tea-leaf picker ware people - Google Patents
Novel intelligence tea-leaf picker ware people Download PDFInfo
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- CN214628197U CN214628197U CN202120911585.8U CN202120911585U CN214628197U CN 214628197 U CN214628197 U CN 214628197U CN 202120911585 U CN202120911585 U CN 202120911585U CN 214628197 U CN214628197 U CN 214628197U
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- picking robot
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Abstract
The utility model discloses a novel intelligence tea-leaf picker ware people, including tea-leaf picker ware people base, tea-leaf picker ware people main part, left side cutter mechanism, right side cutter mechanism and receiving mechanism, its characterized in that: the tea picking robot comprises a tea picking robot base, caterpillar bands, a tea picking robot main body, upright columns and a tea picking robot, wherein the caterpillar bands are arranged on two sides of the tea picking robot base; the utility model discloses utilize tea tree leaf bud and old leaf colour difference to discern it and distinguish, cutting knife line detects the line of cut of location identification module, and infrared auxiliary cutter picks. Thereby the artifical harvesting of simulation satisfies the demand that a tea leaf was accurately picked, respectively has a picking arm through the left and right sides, can pick the tea tree of both sides, picks efficiently to the tealeaves automatic collection under picking to the collecting box has avoided artifical labouring operation and has picked the tea tree of co-altitude.
Description
Technical Field
The utility model relates to a tea-leaf picking equipment technical field especially relates to a novel intelligence tea-leaf picking robot.
Background
At present, the picking of fresh tea leaves is advancing from manual picking to the era of mechanical picking, and the mechanical picking of tea gradually replaces the manual picking of tea. The existing tea plucking machine is mainly divided into a single-person tea plucking machine, a double-person lifting tea plucking machine and a self-propelled tea plucking machine;
traditional single tea-leaf picker, double are lifted the picker and self-propelled tea-leaf picker all is that the treetop part of cutting the tea tree carries out the harvesting of tealeaves, though the picking efficiency of tealeaves has been promoted, but the quality of the tealeaves of picking is poor than the quality of manual picking far away, can also bring many tea stems into sometimes, especially a tea leaf when famous tea excellent quality explains the tender leaf of picking a bit, current tea-leaf picker can accomplish very seldom, consequently still need artifical the picking, along with labour cost is higher and higher, it is serious to pick the vigorous season labour shortage of tea, consequently, the utility model provides a novel intelligence tea-leaf picker people is in order to solve the problem that exists among the prior art.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model aims to provide a novel intelligence robot of picking tea-leaves, this novel intelligence robot of picking tea-leaves utilizes tea tree leaf bud and old leaf colour difference to discern it and distinguish, and cutting line detection location identification module confirms the line of cut, and infrared auxiliary tool picks. Thereby simulating manual picking and meeting the requirement of accurate picking of one tea.
For realizing the purpose of the utility model, the utility model discloses a following technical scheme realizes: the utility model provides a novel intelligence tea-leaf picker ware people, includes tea-leaf picker ware people base, tea-leaf picker ware people main part, left side cutter mechanism, right side cutter mechanism and receiving mechanism, its characterized in that: the track is all installed to the both sides of tea-picking robot base, tea-picking robot base's top is provided with tea-picking robot main part, tea-picking robot main part's top all is provided with the stand, the stand level is provided with flexible arm, one side of stand is provided with the pneumatic cylinder, the output of pneumatic cylinder is installed on flexible arm, the swinging boom is installed in flexible arm one end is articulated, swinging boom and picking hand swing joint, install left side cutter mechanism and right side cutter mechanism in the picking hand, be equipped with receiving mechanism in the picking hand.
The further improvement is that: the rear part of the rotating arm is provided with a track, the rotating arm and the picking hand form a sliding structure through a sliding block, and the hinged range of the telescopic arm and the rotating arm is 0-180 degrees.
The further improvement lies in that: the bottom of picking hand is installed cutting knife line respectively and is detected location discernment input and tender leaf and detect the discernment input, install cutting knife line on the cutting knife line detects location discernment input and detects location discernment module.
The further improvement lies in that: the left side cutter mechanism comprises a left cutter, an infrared emission hole and an infrared emission module, the picking hand is internally provided with the left cutter, the infrared emission hole is formed in the lower end of the left cutter, and the infrared emission module is arranged on the outer side of the lower end of the left cutter.
The further improvement lies in that: the right side cutter mechanism comprises a right cutter, a blade, an infrared receiving hole and an infrared receiving module and a baffle, the picking hand is internally provided with the right cutter, the bottom end of the right cutter is provided with the blade, the infrared receiving hole is formed in the lower end of the right cutter, the infrared receiving module is arranged on the outer side of the lower end of the right cutter, and the baffle is arranged on one side of the right cutter.
The further improvement lies in that: the storage mechanism comprises a storage box, a tender leaf detection and identification input module, a discharge port and a negative pressure suction pipe, the storage box is arranged inside the picking hand, the tender leaf detection and identification input module is arranged at the upper end of the storage box, the discharge port is formed in one side of the storage box, and the negative pressure suction pipe is arranged in the discharge port.
The further improvement lies in that: the tea picking robot is characterized in that a collecting box is mounted on a base of the tea picking robot, a collecting box feeding port is formed in the top end of the collecting box, and the collecting box feeding port is connected with a discharging port through a negative pressure suction pipe.
The utility model has the advantages that: the utility model discloses the utilization utilizes tea tree leaf bud and old leaf colour difference to discern it and distinguish, and the line of cut is confirmed to cutting knife line detection location identification module, and infrared auxiliary cutter picks. Thereby the artifical harvesting of simulation, satisfy the demand that a tea is accurate picked, respectively there is a harvesting arm through the left and right sides, can pick the both sides tea tree, it is efficient to pick, and the tealeaves automatic collection under the harvesting to the collecting box, the tea tree of artificial labouring operation and picking co-altitude has been avoided, and can pick high fine setting according to the demand, the wide and accurate harvesting that just can be realized to working range, small in size at last, the action is nimble, the bottom is the track drive walking, can carry out the rotation of original place three hundred sixty degrees, and ground connection can protect soil at the bottom of the pressure, still can travel and carry out work in the great tea garden of slope ratio.
Drawings
FIG. 1 is a general structure diagram of the novel intelligent tea picking robot;
FIG. 2 is a partial enlarged view of the novel intelligent tea picking robot;
FIG. 3 is a schematic view of a left cutter of the novel intelligent tea picking robot;
FIG. 4 is a schematic view of a right cutter of the novel intelligent tea picking robot;
FIG. 5 is a schematic view of the picking state of the cutter of the novel intelligent tea picking robot;
FIG. 6 is a schematic view of the cutter collection state of the novel intelligent tea picking robot;
FIG. 7 is a schematic view of the bottom of a picking hand of the novel intelligent tea picking robot;
fig. 8 is a sectional view of a picking hand of the novel intelligent tea picking robot.
Wherein: 1. a tea-picking robot base; 2. a crawler belt; 3. a column; 4. a telescopic arm; 5. a hydraulic cylinder; 6. a rotating arm; 7. a track; 8. picking hands; 9. a left side cutter mechanism; 901. a left cutter; 902. an infrared emission aperture; 903. an infrared emission module; 10. a right-side cutter mechanism; 1001. a right cutter; 1002. a blade; 1003. an infrared receiving aperture; 1004. an infrared receiving module; 1005. a baffle plate; 11. a cutting knife line detection positioning identification input end; 12. a tender leaf detection and identification input end; 13. a cutting knife line detection and positioning identification module; 14. a storage mechanism; 1401. a storage box; 1402. a tender leaf detection and identification input module; 1403. a discharge port; 1404. a negative pressure suction pipe; 15. a collection box; 16. and a collecting box feeding port.
Detailed Description
In order to deepen the understanding of the present invention, the following embodiments will be combined to make the present invention do further details, and the present embodiment is only used for explaining the present invention, and does not constitute the limitation of the protection scope of the present invention.
According to the drawings of fig. 1-8, the embodiment provides a novel intelligent tea picking robot, which comprises a tea picking robot base 1, a tea picking robot main body, a left side cutter mechanism 9, a right side cutter mechanism 10 and a containing mechanism 14, wherein two sides of the tea picking robot base 1 are respectively provided with a crawler 2, the tea picking robot main body is arranged above the tea picking robot base 1, the top end of the tea picking robot main body is respectively provided with a stand column 3, the stand column 3 is horizontally provided with a telescopic arm 4, one side of the stand column 3 is provided with a hydraulic cylinder 5, the output end of the hydraulic cylinder 5 is arranged on the telescopic arm 4, one end of the telescopic arm 4 is hinged with a rotating arm 6, the rotating arm 6 is movably connected with a picking hand 8, the picking hand 8 is internally provided with the left side cutter mechanism 9 and the right side cutter mechanism 10, the picking hand 8 is internally provided with the containing mechanism 14, the tea tree picking machine is characterized in that the picking arms are arranged on the left side and the right side respectively, tea trees on the two sides can be picked, the picking efficiency is high, the tea trees can be picked according to the requirements, the tea tree picking machine is wide in working range and can pick tea trees accurately, the tea tree picking machine is small in size and flexible in action at last, the bottom of the tea tree picking machine is driven to walk by the crawler belt 2, the tea tree picking machine can rotate in place by three hundred and sixty degrees, soil can be protected by grounding than the bottom of the tea tree picking machine, and the tea tree picking machine can also run in a tea garden with a large gradient and work.
The left side cutter mechanism 9 comprises a left cutter 901, an infrared emission hole 902 and an infrared emission module 903, the left cutter 901 is installed inside the picking hand 8, the infrared emission hole 902 is formed in the lower end of the left cutter 901, the infrared emission module 903 is arranged on the outer side of the lower end of the left cutter 901, and the picking hand 8 can be adjusted in multiple angles and multiple heights.
Pick the bottom of hand 8 and install cutting knife line respectively and detect location identification input 11 and tender leaf and detect identification input 12, install cutting knife line on the cutting knife line detects location identification input 11 and detect location identification module 13, utilize tea tree leaf bud and old leaf colour difference to discern it and distinguish, cutting knife line detects location identification module and confirms line of cut 13, and infrared auxiliary cutter picks.
The left side cutter mechanism 9 comprises a left cutter 901, an infrared emission hole 902 and an infrared emission module 903, the left cutter 901 is mounted inside the picking hand 8, the infrared emission hole 902 is formed in the lower end of the left cutter 901, the infrared emission module 903 is arranged on the outer side of the lower end of the left cutter 901, and the left side cutter mechanism 9 and the right side cutter mechanism 10 are matched for use to pick tea leaves.
Right side cutter mechanism 10 includes right knife 1001, blade 1002, infrared receiving hole 1003 and infrared receiving module 1004 and baffle 1005, pick the internally mounted of hand 8 and have right knife 1001, the bottom of right knife 1001 is equipped with blade 1002, infrared receiving hole 1003 has been seted up in the lower extreme of right knife 1001, the lower extreme outside of right knife 1001 is provided with infrared receiving module 1004, baffle 1005 is installed to one side of right knife 1001, cooperate the use through right side cutter mechanism 10 and left side cutter mechanism 9 and pick tealeaves.
Storage mechanism 14 includes receiver 1401, tender leaf detection discernment input module 1402, discharge gate 1403, negative pressure straw 1404, the internally mounted of picking hand 8 has receiver 1401, the upper end of receiver 1401 is provided with tender leaf detection discernment input module 1402, discharge gate 1403 has been seted up to one side of receiver 1401, install negative pressure straw 1404 in the discharge gate 1403, the tealeaves automatic collection under the picking is to collecting box 15, has avoided artificial arduous operation and has picked the tea tree of co-altitude.
The tea picking robot base 1 is provided with a collecting box 15, a collecting box feeding port 16 is formed in the top end of the collecting box 15, the collecting box feeding port 16 is connected with a discharging port 1403 through a negative pressure suction pipe 1404, and picked tea leaves can be effectively stored.
During the use, when the tea-picking robot main part needs to adjust operating height by a wide margin in the tea-picking process, at first accessible pneumatic cylinder 5 carries out the height and adjusts on a large scale, when this novel tea-picking robot work highly needs the fine setting, the slider and the track 7 of 6 ends of accessible control swinging boom carry out the fine setting of picking 8 heights, secondly tender leaf detects discernment input 12 and detects discernment input module 1402 control by the tender leaf that picks the setting up in 8, cutting knife line detects location discernment input 11 and detects location discernment module 13 control by the cutting knife line that sets up in picking 8. The tender leaf detection and identification input end 12 feeds back identification information to the tender leaf detection and identification input module 1402 by identifying the color difference between tender leaves and old leaves, the system moves a picking hand 8 above the tender leaves through the adjustment of the telescopic arm 4 and the rotary arm 6 after the information is processed by the tender leaf detection and identification input module 1402, then the positions where the left cutter mechanism 9 and the right cutter mechanism 10 should cut are determined by the cutter line detection and positioning identification input end 11 to feed back the information to the cutter line detection and positioning identification module 13, the system moves the picking hand 8 to a proper height through adjusting the hydraulic cylinder 5 and the track 7 after the information is processed by the cutter line detection and positioning identification module 13, then the picking of the tender leaves is accurately completed by matching the left cutter mechanism 9 and the right cutter mechanism 10, and then when the left cutter mechanism 9 and the right cutter mechanism 10 move to the tea cutting positions to be picked, the tea leaves are positioned between the left cutter 901 and the right cutter 1001, thereby blocking the infrared receiving hole 1003 from receiving infrared information, and after the infrared receiving module 1004 does not receive information, the left cutter 901 and the right cutter 1001 will approach each other, so that the blade 1002 will cut off the stem at the bottom end of the tea leaves, while the blade 1002 cuts the bottom end of the tea leaves, the left cutter mechanism 9 and the right cutter mechanism 10 are integrally rotated ninety degrees into a horizontal state, at this time, the baffle 1005 prevents the picked tea leaves from falling off, and finally the left cutter mechanism 9 and the right cutter mechanism 10 form a passage with the storage box 1401, because the storage box 1401 is provided with the discharge hole 1403 and the discharge hole 1403 is connected with the negative pressure suction pipe 1404, the negative pressure exists in the storage box 1401, the tea leaves picked in the channel can be sucked into the storage box 1401 and then sent to the collection box 15 through the negative pressure suction pipe 1404, therefore, the picking and collecting process of the tender tea leaves of the tea trees is completed, and the novel intelligent tea picking robot is used.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a novel intelligence tea-leaf picker ware people, includes tea-leaf picker ware people base (1), tea-leaf picker ware people main part, left side cutter mechanism (9), right side cutter mechanism (10) and receiving mechanism (14), its characterized in that: track (2) are all installed to the both sides of tea-picking robot base (1), the top of tea-picking robot base (1) is provided with tea-picking robot main part, the top of tea-picking robot main part all is provided with stand (3), stand (3) level is provided with flexible arm (4), one side of stand (3) is provided with pneumatic cylinder (5), the output of pneumatic cylinder (5) is installed on flexible arm (4), flexible arm (4) one end is articulated installs swinging boom (6), swinging boom (6) and picking hand (8) swing joint, install left side cutter mechanism (9) and right side cutter mechanism (10) in picking hand (8), be equipped with receiving mechanism (14) in picking hand (8).
2. The novel intelligent tea-picking robot of claim 1, wherein: track (7) have been seted up to swinging boom (6) rear portion, swinging boom (6) pass through the slider and constitute sliding structure with picking hand (8), flexible arm (4) and swinging boom (6) articulated home range are 0 to 180 degrees.
3. The novel intelligent tea-picking robot of claim 1, wherein: the bottom of picking hand (8) is installed cutting knife line respectively and is detected location discernment input (11) and tender leaf and detect discernment input (12), install cutting knife line on cutting knife line detection location discernment input (11) and detect location identification module (13).
4. The novel intelligent tea-picking robot of claim 1, wherein: the left side cutter mechanism (9) comprises a left cutter (901), an infrared emission hole (902) and an infrared emission module (903), the picking hand (8) is internally provided with the left cutter (901), the lower end of the left cutter (901) is internally provided with the infrared emission hole (902), and the outer side of the lower end of the left cutter (901) is provided with the infrared emission module (903).
5. The novel intelligent tea-picking robot of claim 1, wherein: right side cutter mechanism (10) include right knife utensil (1001), blade (1002), infrared ray receiving hole (1003) and infrared ray receiving module (1004) and baffle (1005), the internally mounted of picking hand (8) has right knife utensil (1001), the bottom of right knife utensil (1001) is equipped with blade (1002), infrared ray receiving hole (1003) have been seted up in the lower extreme of right knife utensil (1001), the lower extreme outside of right knife utensil (1001) is provided with infrared ray receiving module (1004), baffle (1005) are installed to one side of right knife utensil (1001).
6. The novel intelligent tea-picking robot of claim 1, wherein: the storage mechanism (14) comprises a storage box (1401), a tender leaf detection and identification input module (1402), a discharge hole (1403) and a negative pressure suction pipe (1404), the storage box (1401) is installed inside the picking hand (8), the tender leaf detection and identification input module (1402) is arranged at the upper end of the storage box (1401), the discharge hole (1403) is formed in one side of the storage box (1401), and the negative pressure suction pipe (1404) is installed in the discharge hole (1403).
7. The novel intelligent tea-picking robot of claim 1, wherein: the tea picking robot is characterized in that a collecting box (15) is installed on the base (1), a collecting box feeding port (16) is formed in the top end of the collecting box (15), and the collecting box feeding port (16) is connected with a discharging port (1403) through a negative pressure suction pipe (1404).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120911585.8U CN214628197U (en) | 2021-04-29 | 2021-04-29 | Novel intelligence tea-leaf picker ware people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120911585.8U CN214628197U (en) | 2021-04-29 | 2021-04-29 | Novel intelligence tea-leaf picker ware people |
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| Publication Number | Publication Date |
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| CN214628197U true CN214628197U (en) | 2021-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120911585.8U Expired - Fee Related CN214628197U (en) | 2021-04-29 | 2021-04-29 | Novel intelligence tea-leaf picker ware people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115176596A (en) * | 2022-08-05 | 2022-10-14 | 安徽农业大学 | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea |
| CN117378360A (en) * | 2023-11-22 | 2024-01-12 | 云南农业大学 | Tea-leaf picking robot |
-
2021
- 2021-04-29 CN CN202120911585.8U patent/CN214628197U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115176596A (en) * | 2022-08-05 | 2022-10-14 | 安徽农业大学 | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea |
| CN117378360A (en) * | 2023-11-22 | 2024-01-12 | 云南农业大学 | Tea-leaf picking robot |
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Granted publication date: 20211109 |